EP2681515B1 - Messeinrichtung zur erfassung des absolutdrehwinkels eines rotierenden messobjekts - Google Patents

Messeinrichtung zur erfassung des absolutdrehwinkels eines rotierenden messobjekts Download PDF

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Publication number
EP2681515B1
EP2681515B1 EP12710134.3A EP12710134A EP2681515B1 EP 2681515 B1 EP2681515 B1 EP 2681515B1 EP 12710134 A EP12710134 A EP 12710134A EP 2681515 B1 EP2681515 B1 EP 2681515B1
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EP
European Patent Office
Prior art keywords
gear
rotation angle
gears
measuring system
turnres
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP12710134.3A
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German (de)
English (en)
French (fr)
Other versions
EP2681515A1 (de
Inventor
Wilfried Platzer
Benjamin Hofmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Auma Riester GmbH and Co KG
Original Assignee
Auma Riester GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Auma Riester GmbH and Co KG filed Critical Auma Riester GmbH and Co KG
Priority to PL12710134T priority Critical patent/PL2681515T3/pl
Publication of EP2681515A1 publication Critical patent/EP2681515A1/de
Application granted granted Critical
Publication of EP2681515B1 publication Critical patent/EP2681515B1/de
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/02—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means
    • G01D5/04—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means using levers; using cams; using gearing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation

Definitions

  • the invention relates to a measuring device for detecting the absolute rotational angle of a rotating measuring object.
  • the invention has for its object to provide a simple and inexpensive measuring device for detecting the absolute rotation angle of a rotating object to be measured.
  • the shaft of the measurement object is associated with a first gear, wherein the first gear is directly or indirectly with at least a second gear and a third gear engaged and wherein the number of teeth of the individual gears is different from each other.
  • each gear is associated with a rotary encoder, which detects the rotation angle of the associated gear, wherein a computing unit is provided which determines at least the difference of the rotational angle of the first gear and the second gear and the difference of the rotational angle of the first gear and the third gear and based a sum of the differences of the determined rotational angle of the gears determines the number of integral revolutions and the remaining rotational angle of the shaft of the measurement object.
  • a normalization to the geometric slope of Summation of the differences of the determined angle of rotation is made.
  • the measuring device allows the measurement of the exact current angular position of a shaft of a measurement object in combination with the evaluation of the integer number of revolutions of the shaft.
  • the differential displacement sensor according to the invention preferably has three gears coupled to one another, the gears having a different number of teeth.
  • the gears can be configured as spurs and / or as internally toothed gears and / or as toothed belts and / or as sprockets and / or as friction wheels. With friction wheels, the difference in the number of teeth is not limited to whole positive numbers. Here, the difference in the number of teeth generally speaking can correspond to any positive real number greater than or equal to 1.
  • the differential displacement sensor according to the invention By means of the differential displacement sensor according to the invention, the problems with lots in the gear stages can be largely eliminated. Since the number of gear stages in the measuring device according to the invention with respect to the known solution is considerably reduced, the measuring device according to the invention can be realized cost-effective and compact. In addition, it can be easily connected to the shaft of the rotating measurement object. It is regarded as particularly advantageous in connection with the measuring device according to the invention that for the adjustment and functional testing of the measuring device, e.g. in manufacturing, a simple rotation of all three gears is sufficient. Thus, a functional test of the measuring device can be performed quickly and easily.
  • An advantageous embodiment of the measuring device according to the invention suggests that for detecting the rotational angle of the individual gears optical, magnetic and / or electromechanical rotary encoder can be used.
  • Hall sensors are preferably used.
  • the angle of rotation in degrees is detected by corresponding rotational angle sensors of all the gears.
  • the difference of the rotational angle of the second gear to the first gear and from the third gear to the first gear are used to determine the integer revolutions of the shaft of the measurement object to which the first gear is attached.
  • the number of teeth of the gears differs by one tooth in such a manner that the difference in the number of teeth of the first gear and the second gear and the first gear and the third gear is equal to 1, respectively.
  • the first gear is associated with the shaft of the measurement object and its number of teeth is 25, then the number of teeth of the second gear 26 and the number of teeth of the third gear 24.
  • the total angular resolution of the measuring device is divided into n main sections.
  • n is greater than or equal to 1.
  • the main section assigned to the corresponding absolute angle is determined by the arithmetic unit on the basis of the relative positions of the gears.
  • a preferred embodiment of the measuring device provides that the angle transmitter of the toothed wheel, which is assigned to the shaft of the measurement object, directly detects the remaining rotation angle, that is to say the singleturn resolution.
  • the integer part of Turn is the number of full revolutions of the wave of the measurement object, while the decimal places describe the remaining rotation angle.
  • an advantageous Design of the measuring device the following: The arithmetic unit divided by the difference of the determined rotational angle of the second gear and the third gear, the angular resolution of the measuring device in subsections UA.
  • the number of subsections depends on the number of teeth of the first gear.
  • the geometric gradient of the subsections UA is greater than the geometric gradient of the main section HA or the main sections zHA.
  • the measuring device according to the invention is used in an actuator or an actuator in automation or manufacturing technology. It is understood, however, that the measuring device according to the invention is by no means limited to this application.
  • the measuring device according to the invention can also be used, for example, in printing presses or automobiles.
  • the measured object is preferably the drive shaft and / or the output shaft of an actuator which serves to actuate a valve.
  • the drive shaft is also connected to an actuator.
  • the actuating element is an electric motor and / or an adjusting wheel or handwheel.
  • the valve is coupled to the output shaft.
  • a reduction gear is usually arranged between the actuator and the valve in many applications.
  • Fig. 1 shows a schematic representation of an actuator 1 and an actuator 1 for actuating a valve 2.
  • the valve 2 is, for example, a valve, a slide, a throttle or a flap.
  • the actuator 1 and the actuator 1 is usually composed of an electric motor 3 with corresponding sensor 10, an actuator 4 with corresponding sensors 11, a reduction gear 5 and a valve 2.
  • the control of the actuator 1 by means of the parent control unit 12.
  • Die Control unit 12 may be integrated into the actuator 4, it may be attached to the actuator 4 or designed as a separate component.
  • the actuators 4 for valves 2 used in process and process engineering are designed so that they can transmit high torques (30-630,000 Nm) at low speeds (4-180 rpm), wherein the transmitted torque is also low at low angles of rotation must have high constancy.
  • the reduction gear 5 is necessary to the high speed of the electric motor 3 in the desired highly constant output speed for operating the valve. 2 implement.
  • a reduction gear 5 different gear can be used. Examples include a bevel gear or spur gear, a worm gear, a superposition gear or a lever mechanism called.
  • the torque range of rotary actuators extends up to a torque of 32,000 Nm; With rotary actuators, torques of up to 630,000 Nm can be achieved.
  • the actuator In order to meet a given in the process or process automation safety standard, the actuator must be able to be operated in an emergency via a separately operable thumbwheel 6.
  • This setting wheel 6 is also used during commissioning or during the re-commissioning of the actuator 4 after a fault.
  • the adjusting wheel 6 is usually a hand wheel, which is manually operated by the operator, whereby the valve 2 can be brought into a desired position.
  • the clutch mechanism is usually designed and / or arranged so that the motor 3, the electric motor 3 directly coupled to the output shaft 7 and the setting wheel 6 is disengaged, while in manual mode, the output shaft 7 is coupled to the setting wheel 6 and the electric motor 3 is disengaged.
  • the clutch mechanism is designed such that the setting wheel 6 is automatically disengaged from the drive shaft 8 as soon as the actuator 4 is operating in the engine mode - the engine operation has priority over manual operation.
  • Corresponding actuators 4 are offered and distributed by the applicant.
  • Fig. 2 shows a schematic representation of an embodiment of the measuring device according to the invention, consisting of three mutually coupled gears Z1, Z2, Z3, wherein the gear Z1 has the number of teeth z1, wherein the gear Z2 has the number of teeth z2 and wherein the gear Z3 has the number of teeth z3.
  • the numbers of teeth z1, z2, z3 of the gears Z1, Z2, Z3 are different from each other.
  • the difference in the numbers of teeth between the gear Z1 and the gear Z2 and the gear Z1 and the gear Z3 are each a tooth.
  • the toothed wheel Z1 is associated with the shaft 8, 9 of the rotating measuring object.
  • the gears Z2, Z3 are in direct engagement with the gear Z1.
  • Each gear Z1, Z2, Z3 is a rotary encoder D1, D2, D3 assigned, which detects the rotation angle ⁇ Z 1 , ⁇ Z 2 , ⁇ Z 3 of the associated gear Z1, Z2, Z3.
  • the rotational angle ⁇ Z 1 , ⁇ Z 2 , ⁇ Z 3 of the individual gears Z1, Z2, Z3 is detected via optical, magnetic and / or electromechanical rotational angle encoders D1, D2, D3.
  • the angle encoder D1 of the gear Z1 which is associated with the shaft 8 of the measurement object, detects the remaining rotation angle ⁇ Z 1 preferably directly.
  • integral turns 312 are performed in a main section 312. Clearly determine the Integer revolutions based on the sum SumDiff the differences of the rotation angle ⁇ Z 1 , ⁇ Z 2 , ⁇ Z 3 of the gears Z1, Z2, Z3.
  • the corresponding curves have different geometric slopes, whereby the multi-turn resolution TurnRes of the measuring device 9 is subdivided into subsections UA.
  • the first subsection of the curve ⁇ Z 2 - ⁇ Z 3 is in the Fig. 3 drawn by way of example.
  • the number of subsections UA of the curve ⁇ Z 2 - ⁇ Z 3 depends on the number of teeth z1 of the first gear Z1. Since the number of teeth z1 of the first gear Z1 is 25, there are 25 subsections UA of the curve ⁇ Z 2 - ⁇ Z 3 in the illustrated case 25.
  • the resolution can be determined more precisely and the remaining angle of rotation ⁇ Z 1 of the shaft 8 of the measurement object can be determined.
  • Fig. 4 shows a diagram illustrating the multi-turn resolution TurnRes with two main sections HA.
  • the arithmetic unit 13 divides the first gear Z1 into the second gear Z2 and from the first gear Z1 into the third gear Z3, the difference being equal to dZ, where dZ is greater than or equal to 1, the total angular resolution of the measuring device 9 in FIG n Main sections HA.
  • the arithmetic unit 13 determines the associated Main section zHA based on the respective positions ⁇ Z 1 , ⁇ Z 2 , ⁇ Z 3 of the gears Z1, Z2, Z3.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
EP12710134.3A 2011-03-04 2012-03-02 Messeinrichtung zur erfassung des absolutdrehwinkels eines rotierenden messobjekts Active EP2681515B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL12710134T PL2681515T3 (pl) 2011-03-04 2012-03-02 Urządzenie pomiarowe do rejestrowania bezwzględnego kąta obrotu mierzonego wirującego obiektu

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011013133 2011-03-04
PCT/EP2012/000928 WO2012119732A1 (de) 2011-03-04 2012-03-02 Messeinrichtung zur erfassung des absolutdrehwinkels eines rotierenden messobjekts

Publications (2)

Publication Number Publication Date
EP2681515A1 EP2681515A1 (de) 2014-01-08
EP2681515B1 true EP2681515B1 (de) 2015-08-26

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EP12710134.3A Active EP2681515B1 (de) 2011-03-04 2012-03-02 Messeinrichtung zur erfassung des absolutdrehwinkels eines rotierenden messobjekts

Country Status (9)

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US (1) US9482556B2 (pl)
EP (1) EP2681515B1 (pl)
JP (1) JP5668153B2 (pl)
CN (1) CN103459984B (pl)
DE (1) DE102011106339B4 (pl)
ES (1) ES2550779T3 (pl)
PL (1) PL2681515T3 (pl)
RU (1) RU2548588C1 (pl)
WO (1) WO2012119732A1 (pl)

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JP5545769B2 (ja) 2011-07-12 2014-07-09 オリエンタルモーター株式会社 アブソリュート変位量を算出する装置及びその方法
JP5420624B2 (ja) * 2011-11-14 2014-02-19 オリエンタルモーター株式会社 多回転アブソリュート回転角検出装置及びアブソリュート回転角を検出する方法
EP2898295B1 (en) * 2012-09-21 2016-12-28 Eaton Corporation Pseudo-absolute position sensing algorithm
JP2014115234A (ja) * 2012-12-12 2014-06-26 Iai Corp 機械式アブソリュートユニットと機械式アブソリュートエンコーダとアクチュエータ
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EP3122615A4 (en) * 2014-03-28 2017-06-28 Allied Motion Stockholm AB Method for deriving an absolute multiturn rotational angle of a rotating shaft, and a device therefore
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DE102022102110A1 (de) 2022-01-31 2023-08-03 Schaeffler Technologies AG & Co. KG Lenkereinheit für ein Steer-by-wire-Lenksystem und Verfahren zur Lenkwinkelerfassung

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Also Published As

Publication number Publication date
JP2014507002A (ja) 2014-03-20
DE102011106339A1 (de) 2012-09-06
WO2012119732A1 (de) 2012-09-13
EP2681515A1 (de) 2014-01-08
PL2681515T3 (pl) 2016-01-29
US9482556B2 (en) 2016-11-01
CN103459984A (zh) 2013-12-18
ES2550779T3 (es) 2015-11-12
RU2548588C1 (ru) 2015-04-20
DE102011106339B4 (de) 2012-12-06
JP5668153B2 (ja) 2015-02-12
RU2013144588A (ru) 2015-04-10
CN103459984B (zh) 2015-11-25
US20140005976A1 (en) 2014-01-02

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